Control system for controlling filling mechanisms in communication with a mobile device

ABSTRACT

A fill control system on a harvester detects that a receiving vehicle is to be repositioned relative to the harvester. The fill control system generates a signal indicative of how the receiving vehicle is to be repositioned relative to the harvester. The harvester sends the signal to a mobile device that is remote from the harvester. A mobile device receives an indication from a fill control system on a harvester that indicates how a receiving vehicle is to be repositioned relative to the harvester. The mobile device controls a user interface mechanism to generate an output indicating how the receiving vehicle is to be repositioned relative to the harvester.

FIELD OF THE DESCRIPTION

The present description relates to mobile work machines. Morespecifically, the present description relates to controlling placementof filling mechanisms when filling a receiving vehicle.

BACKGROUND

There are a wide variety of different types of mobile work machine suchas agricultural vehicles and construction vehicles. Some vehiclesinclude harvesters, such as forage harvesters, sugar cane harvesters,combine harvesters, and other harvesters, that harvest grain or othercrop. Such harvesters often unload into carts which may be pulled bytractors or semi-trailers as the harvesters are moving. Someconstruction vehicles include vehicles that remove asphalt or othersimilar materials. Such machines can include cold planers, asphaltmills, asphalt grinders, etc. Such construction vehicles often unloadmaterial into a receiving vehicle, such as a dump truck or other vehiclewith a receiving vessel.

As one example, while harvesting in a field using a forage harvester, anoperator attempts to control the forage harvester to maintain harvestingefficiency, during many different types of conditions. The soilconditions, crop conditions, and other things can all change. This mayresult in the operator changing control settings. This means that theoperator needs to devote a relatively large amount of attention tocontrolling the forage harvester.

At the same time, a semi-truck or tractor-pulled cart is often inposition relative to the forage harvester (e.g., behind the forageharvester or alongside the forage harvester) so that the forageharvester can fill the truck or cart while moving through the field. Insome current systems, this requires the operator of the forage harvesterto control the position of the unloading spout and flap so that thetruck or cart is filled evenly, but not overfilled. Even a momentarymisalignment between the spout and the truck or cart may result inhundreds of pounds of harvested material being dumped on the ground, orelsewhere, rather than in the truck or cart.

The receiving vehicle often has more freedom to move relative to theharvester than the harvester has to slow down or speed up due to cropunloading. Thus, the operators of the receiving vehicle currentlyattempt to adjust to the harvester so that the receiving vehicles arefilled evenly, but not overfilled. However, it can be difficult for theoperator of the receiving vehicle to adequately adjust the position ofthe receiving vehicle, relative to the harvester, to accomplish adesired fill strategy. Further, the operator of the harvester mayunexpectedly stop the harvester (such as when the harvester head becomesclogged and needs to be cleared or for other reasons), so the operatorof the receiving vehicle may not react quickly enough, and the receivingvehicle may thus be out of position relative to the harvester.

Other harvesters such as combine harvesters and sugar cane harvesters,can have similar difficulties. Also, construction vehicles can bedifficult to operate while attempting to maintain alignment with areceiving vehicle.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

A fill control system on a harvester detects that a receiving vehicle isto be repositioned relative to the harvester. The fill control systemgenerates a signal indicative of how the receiving vehicle is to berepositioned relative to the harvester. The harvester sends the signalto a mobile device that is remote from the harvester.

A mobile device receives an indication from a fill control system on aharvester that indicates how a receiving vehicle is to be repositionedrelative to the harvester. The mobile device controls a user interfacemechanism to generate an output indicating how the receiving vehicle isto be repositioned relative to the harvester.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a pictorial illustration of one example of a work machinewhich comprises a forage harvester filling a receiving vehicle, with thereceiving vehicle in a position behind the forage harvester.

FIG. 2 is a pictorial illustration of one example of a work machinewhich comprises a forage harvester filling a receiving vehicle that isalongside the forage harvester.

FIG. 3 is a pictorial illustration of an operator display showing videoof a filling operation.

FIG. 4 is a pictorial illustration of an operator display showing a topdown representation of a receiving vessel and a graphical illustrationof a fill level in the receiving vessel.

FIG. 5 is a block diagram of one example of a harvester.

FIG. 6 is a block diagram of one example of a receiving/towing vehicle.

FIGS. 7A-7E show examples of user interface displays.

FIGS. 8A-8E show examples of user interface displays.

FIG. 9 shows a flow diagram illustrating one example of detecting that areceiving vehicle should be repositioned relative to a harvester andgenerating a reposition signal.

FIG. 10 is a flow diagram showing one example of the operation of amobile device.

FIG. 11 shows a block diagram of a harvester in a remote serverarchitecture.

FIGS. 12-14 show examples of mobile devices that can be used inharvesters.

FIG. 15 is a block diagram of a computing environment that can be usedin the machines, systems, and architectures shown and discussed withrespect to the previous figures.

DETAILED DESCRIPTION

The present discussion proceeds with respect to an agriculturalharvester, but it will be appreciated that the present discussion isalso applicable to construction machines or other material loadingvehicles as well, such as those discussed elsewhere herein. As discussedabove, it can be very difficult for an operator to maintain highefficiency in controlling a harvester, and also to optimally monitor theposition of the receiving vehicle. This difficulty can even beexacerbated when the receiving vehicle is located behind the forageharvester, so that the forage harvester is executing a rear unloadingoperation, but the difficulty also exists in side-by-side unloadingscenarios.

In order to address these issues, some automatic cart filling controlsystems have been developed to automate portions of the filling process.One such automatic fill control system uses a stereo camera on the spoutof the harvester to capture an image of the receiving vehicle. An imageprocessing system determines dimensions of the receiving vehicle and thedistribution of the crop deposited inside the receiving vehicle. Thesystem also detects crop height within the receiving vehicle, in orderto automatically aim the spout toward empty spots and control the flapposition to achieve a more even fill, while reducing spillage. Suchsystems can fill the receiving vehicle according to a fill strategy(such as front-to-back, back-to-front, etc.) that is set by the operatoror that is set in other ways.

However, even with such automatic fill control systems, there can beoccasions where the system does not fill in a uniform manner using thedesired fill strategy. For instance, there may be times when the spoutcannot be controlled so that it reaches the area of the receiving vesselwhere the system wishes to perform the fill operation. For instance,assume that the automatic fill control system wishes to command thespout to begin filling at the rear of a receiving vehicle according to aback-to-front fill strategy. It may be that the receiving vehicle ispositioned in a spot, relative to the harvester, such that the spoutcannot be commanded to fill the extreme rear of the receiving vehicle.This means that the cart cannot be filled correctly or fully by theautomatic fill control system.

Even when the operator of the harvester knows that the harvester shouldmove forward or backward relative to the receiving vehicle, this may notalways address the problem. For instance, the harvester may be starvedfor horsepower or it may be fully loaded so that it cannot adjust speedto meet the demands of positioning the spout as commanded by theautomatic fill control system. Similarly, the operator of the harvestermay be preoccupied in watching the harvesting head for clogs so thatattempting to reposition the harvester relative to the receiving vehiclecan be quite difficult.

In addition, some current harvesters are provided with a machinesynchronization control system. The harvester may be a combine harvesterso that the spout is not movable relative to the frame during normalunloading operations. Instead, the relative position of the receivingvehicle and the combine harvester is changed in order to fill thereceiving vehicle as desired. Thus, in a front-to-back fill strategy,for instance, the relative position of the receiving vehicle, relativeto the combine harvester, is changed so that the spout is first fillingthe receiving vehicle at the front end, and then gradually fills thereceiving vehicle moving rearward. In such an example, the combineharvester and receiving vehicle may have machine synchronization systemswhich communicate with one another. When the relative position of thetwo vehicles is to change, the machine synchronization system on thecombine harvester can send a message to the machine synchronizationsystem on the towing vehicle to nudge the towing vehicle slightlyforward or rearward relative to the combine harvester, as desired. Byway of example, the machine synchronization system on the combineharvester may receive a signal from the fill control system on thecombine harvester indicating that the position in the receiving vehiclethat is currently being filled is approaching its desired fill level. Inthat case, the machine synchronization system on the combine harvestercan send a “nudge” signal to the machine synchronization system on thetowing vehicle. The “nudge”, once received by the machinesynchronization system on the towing vehicle, causes the towing vehicleto momentarily speed up or slow down, thus nudging the position of thereceiving vehicle forward to rearward, respectively, relative to thecombine harvester.

However, this type of machine synchronization system is normallyimplemented on a subset of towing vehicles or other receiving vehiclesthat are used for harvesting operations. Older vehicles, for instance,may not be fitted with such a system.

Thus, the operator of the receiving vehicle may attempt to manuallychange the position of the receiving vehicle relative to the harvesterin order to execute a desired fill strategy. This requires the operatorof the receiving vehicle to know the fill strategy that the operator ofthe harvester would like to perform. Similarly, since the operator ofthe receiving vehicle often cannot see his or her cart fill height, theoperator of the receiving vehicle must estimate when the fill level isadequate in order to change the position of the receiving vehiclerelative to the harvester. This results in frequent missteps in whichthe operator of the receiving vehicle changes the position of thereceiving vehicle relative to the harvester prematurely, so that thetrailer is not sufficiently full, or too late, which can result in thetrailer being overfilled and can result in spillage.

The present discussion thus proceeds with respect to a system in whichan automatic fill control system on the harvester includes a camera andimage processing system that can be used to identify the fill level at acurrent landing position in the receiving vehicle. When the fill levelreaches a desired fill level so that the position of the receivingvehicle should change, relative to the position of the harvester, thenan indicator is generated by the automatic fill control system on theharvester and that indicator is sent to a remote mobile device (whichmay be carried by the operator of the receiving vehicle or mounted inthe operator compartment of the receiving vehicle). The mobile devicegenerates a display or other operator perceptible output that indicateshow the position of the receiving vehicle should change relative to theposition of the harvester.

For instance, in one example, the mobile device can generate an outputshowing an arrow or other direction indicator that indicates how theposition of the receiving vehicle should change relative to the positionof the harvester. In another example, the camera on the harvestercaptures streaming video of the harvested material entering thereceiving vehicle. That streaming video is sent to the mobile device sothat it can be displayed on the mobile device. The indicators, whichindicate how the position of the receiving vehicle should changerelative to the position of the harvester, can also be sent and overlaidon top of, or otherwise integrated into, the streaming video. These areexamples only and other examples of indicators showing how the relativeposition of the receiving vehicle and the harvester should change andthat can be sent to the remote mobile device are described below.

FIG. 1 is a pictorial illustration showing one example of aself-propelled forage harvester 100 (a material loading vehicle) fillinga tractor-pulled grain cart (or receiving vehicle) 102. Cart 102 thusdefines an interior that forms a receiving vessel 103 for receivingharvested material through a receiving area 112. In the example shown inFIG. 1, a towing vehicle (e.g., a tractor) 104, that is pulling graincart 102, is positioned directly behind forage harvester 100 and has amobile device 115 which may be a smart phone, tablet computer, etc.either mounted in the operator compartment of tractor 104, or carried bythe operator of tractor 104. Also, in the example illustrated in FIG. 1,forage harvester 100 has a camera 106 mounted on the spout 108 throughwhich the harvested material 110 is traveling. The spout 108 can bepivotally or rotationally mounted to a frame 107 of harvester 100.Camera 106 can be a stereo-camera or a mono-camera that captures animage (e.g., a still image or video) of the receiving area 112 of cart102. In the example shown in FIG. 1, the receiving area 112 is definedby an upper edge of the walls of cart 102.

When harvester 100 has an automatic fill control system that includesimage processing, as discussed above, the automatic fill control systemcan gauge the height of harvested material in cart 102, and the locationof that material. The system thus automatically controls the position ofspout 108 and flap 109 to direct the trajectory of material 110 into thereceiving area 112 of cart 102 to obtain an even fill throughout theentire length and width of cart 102, while not overfilling cart 102. Byautomatically, it is meant, for example, that the operation is performedwithout further human involvement except, perhaps, to initiate orauthorize the operation.

For example, when executing a back-to-front automatic fill strategy theautomatic fill control system may attempt to move the spout and flap sothe material begins landing at a first landing point in the back ofvessel 103. Then, once a desired fill level is reached in the back ofvessel 103, the automatic fill control system moves the spout and flapso the material begins landing just forward of the first landing pointin vessel 103.

There can be problems with this approach. The trailer 102 may be so farbehind harvester 100 that the spout 108 and flap 109 cannot bepositioned properly so the harvested material cannot reach the back oftrailer 102. Further, the operator of towing vehicle 104 may not be ableto see the level of material in trailer 102 and may therefore be unableto accurately reposition trailer 102 relative to harvester 100. Thus, itmay be difficult to fill trailer 102 efficiently. Also, the operator ofharvester 100 may need to stop harvester 100 to clear the head ofharvester 100 or for some other reason. However, this may be unknown tothe operator of towing vehicle 104. When harvester 100 stops, vehicle104 may move forward too far so that material is either placed too farback in trailer 102 or completely clears the back of trailer 102 andlands on the ground.

FIG. 2 is a pictorial illustration showing another example of aself-propelled forage harvester 100, this time loading a semi-trailer(or receiving vessel on a receiving vehicle) 122 in a configuration inwhich a semi-tractor (that also has a mobile device 115) is pullingsemi-trailer 122 alongside forage harvester 100. Therefore, the spout108 and flap 109 are positioned to unload the harvested material 110 tofill trailer 122 according to a pre-defined side-by-side fill strategy.Again, FIG. 2 shows that camera 106 can capture an image (which caninclude a still image or video) of semi-trailer 122. In the exampleillustrated in FIG. 2, the field of view of camera 106 is directedtoward the receiving area 120 of trailer 122 so that image processingcan be performed to identify a landing point for the harvested materialin trailer 122.

In other examples, where machine 100 is a combine harvester, it may bethat the spout 108 is not moved relative to the frame during normalunloading operations. Instead, the relative position of the receivingvehicle 102, 122 and the combine harvester is changed in order to fillthe receiving vessel 103 as desired. Thus, if a front-to-back fillstrategy is to be employed, then the relative position of the receivingvessel, relative to the combine harvester, is changed so that the spoutis first filling the receiving vessel at the front end, and thengradually fills the receiving vessel moving rearward. In such anexample, the towing vehicle may not have any type of machinesynchronization systems, as discussed above. Thus, it can be difficultfor the harvester and the towing vehicle to communicate with oneanother. The operator of the towing vehicle often estimates when therelative position of the two vehicles is to change, in order to fill thereceiving vehicle as desired. Sometimes the operators use horns orradios to try to communicate with one another but this can be ambiguousand confusing, especially when more than one harvester is operating in afield.

Referring again to the examples discussed above with respect to FIGS. 1and 2, the present discussion proceeds with respect to an example inwhich a mobile device 115 (such as a smartphone, a tablet computer,etc.) is accessible by the operator of the receiving vehicle (e.g., thedriver of the towing vehicle or semi-tractor). The mobile device 115 maybe mounted within the operator compartment of the receiving vehicle,carried by the operator, or otherwise accessible by the operator. A fillcontrol system on harvester 100 sends the mobile device an indicationthat the position of the receiving vehicle, relative to the harvester,should change, and a direction of how the relative position shouldchange. The mobile device 115 then surfaces an indicator to the operatorof the receiving vehicle or towing vehicle indicating how to repositionthe receiving vehicle relative to the harvester, as described in greaterdetail below.

FIG. 3 is a pictorial illustration showing one example of an operatorinterface display 124 that can be displayed on a display mechanism 126,for the operator in an operator compartment of forage harvester 100. Thedisplay (or portion of it) can also be sent to the mobile device 115 foruse by the operator of the receiving vehicle or towing vehicle (tractor104 or the semi-tractor). The operator interface display 124 in FIG. 3shows a view of images (or video) captured by camera 106. The image(s)show material 110 entering trailer 122. An image processing system onharvester 100 illustratively identifies the perimeter of the opening 128in trailer 122 and also processes the image of the material 110 intrailer 122 to determine the fill height relative to opening 128. Theperimeter defining opening 128 can be visually enhanced by overlaying avisual overlay over the opening 128 so that the operator can easilyidentify the opening 128, as it is being recognized by the imageprocessing system.

In some cases the operator sees that, while the material 110 isgenerally filling trailer 122 evenly, there may be voids in the trailer122, such as a void 130 at the forward end of trailer 122. In that case,it may be that the operator wishes to fill void 130 with more materialbefore continuing to fill the remainder of trailer 122. Similarly, theremay be other reasons that the operator wishes to reposition the spout108 relative to the receiving vessel 103. Thus, as is discussed ingreater detail below, a fill control system allows the operator to use atouch gesture (or other command input, such as a point and click input)selecting the area of trailer 122 on display 124 that corresponds to thevoid 130. The fill control system also allows the operator to provide aninput through interface 124, marking a location (such as the location ofvoid 130) where material 110 is to be directed. However, it may also bethat the receiving vessel 103 is in a position relative to harvester 100such that spout 108 cannot be moved to fill the area of the void 130.For instance, with reference to FIG. 3, it may be that receiving vessel103 is so far forward relative to spout 108 that spout 108, even whenmoved to its extreme forward position, cannot be properly positioned tofill void 130. In that case, the operator of the receiving vessel can benotified that he or she needs to reposition the receiving vessel 103relative to the harvester 100.

For example, where the display screen on mechanism 126 is a touchsensitive display screen, then the operator of harvester 100 may simplytouch the screen in the area of void 130. The touch gesture is detectedby the fill control system and the fill control system automaticallygenerates control signals to send an indicator to the mobile device 115on the receiving vehicle indicating that the position of the receivingvehicle relative to the harvester needs to change.

Generating the control signals to send an indicator to the mobile device115 can be done in different ways. For instance, once the operatortouches or otherwise selects (such as with a point and click device) anarea of display 124, the control system identifies the pixel or pixelsets that were selected (e.g., touched or otherwise selected) and, fromthose pixels, identifies a corresponding physical area or landing pointwithin trailer 122. The control system can then calculate the positionthat the receiving vessel 103 needs to be in order to direct material110 to that particular landing point in trailer 122. The control systemcan then generate an indicator that is output to the mobile device so anapplication on the mobile device 115 can generate an output for theoperator of the receiving vehicle indicating that the receiving vehicleneeds to move forward, backward, inward, or outward relative toharvester 100, or to stop. The indicator may be an arrow on the mobiledevice display showing the direction of position adjustment that is tobe made, streaming video showing the fill level of the receiving vessel103, or other audio, visual, or haptic indicators, some of which arediscussed below.

It should also be noted that, in one example, forage harvester 100 mayhave an automatic fill control system (or active fill control system)which fills trailer 122 according to a fill strategy (such as aback-to-front fill strategy, front-to-back fill strategy, etc.). In thatcase, a current location indicator (such as indicator 132) may bedisplayed to show the current location where material 110 is beingloaded into trailer 122 through spout 108 and the direction that spout108 is, or should be, moving relative to trailer 122 as the fillingoperation continues. It can be seen in FIG. 3, for instance, thatindicator 132 is an arrow pointing in the front-to-back direction. Thelocation of arrow 132 on the representation of trailer 122 indicates thecurrent fill position, while the direction of the arrow 132 indicatesthe direction that spout 108 will be moved relative to trailer 122 inexecuting the selected front-to-back fill strategy. Therefore, in oneexample, the streaming video and indicator 132 can be sent to mobiledevice 115 so the operator of the receiving vehicle can easily see thefill level in the trailer 122, and the direction that trailer 122 needsto move relative to the harvester in order to execute an efficientfilling operation. While the indicator 132 in FIG. 2 points in thedirection that spout 108 is to move relative to trailer 122, theindicator can also be reversed when shown on mobile device 115 to showthe direction that the trailer 122 (and hence receiving vehicle 102) isto move relative to harvester 100. These are just some examples of howthe operator interface display 124 can be generated, and other examplesare also contemplated herein.

FIG. 4 is another example of an operator interface display 134 which canbe generated for the operator of harvester 100 and/or sent to mobiledevice 115. Some items are similar to those shown in FIG. 3 and they aresimilarly numbered. Display 134 is a representation of a top-down viewof trailer 122. The top-down view is accompanied by a graph 136 thatillustrates the fill level of the different portions of trailer 128. Byway of example, image processing can divide the area of the trailer 128into bins or discrete volumes (some of which are illustrated by thedashed lines in FIG. 4). FIG. 4 shows that the bins 138, 140, 142, and144 correspond to volumes defined by cross sections of the trailer 128.Each of the bins has a corresponding bar in graph 136, indicating thefill level of that bin in trailer 128. The bar graphs corresponding tobins 138 and 140 are at zero showing that there is no material 110 atthose locations in trailer 128. The bar graphs corresponding to bins 142and 144 show increasing levels of material 110 in those bins. Thelocation of the bins may be displayed on display 134, or they may behidden. Information indicative of the display 134, or parts of it, canbe sent to mobile device 115 so the operator of the receiving vehiclecan see the fill level of various portions of the receiving vesseland/or see an indicator showing which direction the receiving vehicleshould move relative to the harvester 100 in order to execute a desiredfill strategy.

In the example shown in FIG. 4, the operator may see that the locationof trailer 122 corresponding to bins 138 and 140 is empty. In that case,the operator may provide a reposition command input (such as tapping ortouching the display 134 in the area of bin 138 or 140) to indicate thatthe operator desires to have the spout 108 repositioned to a locationwhich fills the volume corresponding to the selected bin in trailer 122.For instance, assume that the operator taps the display 124 in the areaof bin 138. In that case, the control system automatically sends anindicator to mobile device 115 indicating the commanded change ofposition. The indicator can be an arrow, the streaming video with thearrow overlayed on or otherwise integrated into it, a pictorialrepresentation with the arrow overlayed or otherwise integrated, oranother audible, visual, and/or haptic indicator. This information canbe sent to mobile device 115 so the operator of the receiving vehiclecan adjust the position of the receiving vessel 103 relative to spout108 to fill in the area of bins 138 and 140. In one example, once theoperator enters a command (such as by tapping the location of a bin onthe display 124 or by tapping indicator 132) the control systemtranslates that pixel location into a physical bin location on trailer122 and generates the information that is provided to mobile device 115indicating the commanded adjustment of the position of the receivingvehicle relative to the harvester.

FIG. 5 is a block diagram showing one example of a material loadingsystem (an agricultural system) 90 that includes mobile material loadingmachine which comprises agricultural harvester 100 in more detail.Agricultural harvester 100, in the example shown in FIG. 5, includes oneor more processors or servers 148, communication system 150, data store152, sensors 154, fill control system 156, remote applicationinteraction system 158, operator interface mechanisms 160, controllablesubsystems 162, and other harvester functionality 164. Sensors 154 caninclude automatic fill control sensors 164 that are used by fill controlsystem 156. Sensors 164 can include camera 106 (which may be amono-camera, stereo-camera or another type of camera) and other sensors166. The other sensors can include such things as Doppler sensors, RADARsensors, other image sensors or any of a wide variety of other types ofsensors. Sensors 154 can also include spout position sensor 168 and flapposition sensor 170. Spout position sensor 168 illustratively senses theposition of spout 108 relative to the frame of harvester 100. Sensor 168can do this by sensing the position of an actuator that drives movementof spout 108 relative to the frame of harvester 100, or sensor 168 canbe a rotary position sensor, a linear sensor, a potentiometer, a HallEffect sensor, or any other of a wide variety of sensors that can sensethe position of spout 108 relative to the frame of harvester 100.Similarly, flap position sensor 170 can be a sensor that senses theposition of the flap 109. Thus, sensor 170 can be a rotary positionsensor, a linear sensor, a potentiometer, a Hall Effect sensor, a sensorthat senses a position of an actuator that drives movement of flap 109,or any of a wide variety of other sensors.

Sensors 154 can also include machine synchronization sensors 172.Sensors 172 can include relative position sensors 174 that sense therelative position of the harvester 100, relative to the receivingvehicle. Such sensors can include RADAR sensors, Doppler sensors, imageor other optical sensors, or a wide variety of other relative positionsensors. The relative position sensors 174 can also include positionsensors (such as a GPS receiver, or another GNSS sensor) that senses theposition of harvester 100. This can be used, in conjunction with anotherposition sensor signal from a position sensor on the receiving vehicle,to determine the position of the two vehicles relative to one another.The machine synchronization sensors 172 can include other sensors 176,and sensors 154 can include a wide variety of other sensors 178 as well.

Fill control system 156 illustratively controls operations of variousparts of harvester 100 (and possibly the towing vehicle 104) to fill thereceiving vehicle 102, 122, as desired. Fill control system 156 caninclude automatic fill control system 180 (which, itself, can includefill strategy selector 182, fill strategy implementation processor 184and other items 186), manual fill control system 188 (which, itself caninclude manual position adjustment detector 190 and other items 192),and/or machine synchronization fill control system 194. Fill controlsystem 156 can also include fill control signal generator 196 and otheritems 198.

Remote application interaction system 158 can include connectioncontroller 200, communication controller 202, fill control interactionsystem 204, remote application output generator 205, and other items206. Operator interface mechanisms 160 can include interactive displaymechanism 126 and a variety of other operator interface mechanisms 208.Controllable subsystems 162 can include propulsion subsystem 210,steering subsystem 212, one or more spout actuators 214, one or moreflap actuators 216 and other items 218. FIG. 5 also shows that operator220 can interact through operator interface mechanism 160 to control andmanipulate agricultural harvester 100. Further, FIG. 5 shows thatharvester 100 is connected over network 222 to receiving vehicle 102,122, towing vehicle 104 and/or it can be connected to other systems 224.Before describing the overall operation of agricultural harvester 100 inmore detail, a brief description of some of the items in agriculturalharvester 100, and their operation, will first be provided.

Communication system 150 can facilitate communication among the items ofharvester 100 and with other items over network 222. Network 222 can bea wide area network, a local area network, a near field communicationnetwork, a Bluetooth communication network, a cellular communicationnetwork, or any of a variety of other networks or combinations ofnetworks. Therefore, communication system 150 can use a controller areanetwork (CAN) bus or other controllers to facilitate communication ofthe items on harvester 100 with other items. Communication system 150can also be different kinds of communication systems, depending on theparticular network or networks 222 over which communication is to bemade.

Operator interface mechanisms 160 can be a wide variety of differenttypes of mechanisms. Interactive display mechanism 126 can be a displaymechanism, such as that shown in FIGS. 3 and 4, or mechanism 126 can bea display mechanism on a mobile device, such as a tablet computer, asmartphone, etc., that is carried by the operator 199 and/or mounted inthe operator compartment of harvester 100. Thus, interactive displaymechanism 126 can be a touch sensitive display mechanism, a displaymechanism that receives inputs through a point and click device, orother kinds of display mechanisms.

Other operator interface mechanisms 208 can include a steering wheel,levers, buttons, pedals, a microphone and speaker (where speechrecognition and speech synthesis are provided), joysticks, or othermechanical, audio, visual, or haptic mechanisms that can be used toprovide outputs to operator 199 or to receive inputs from operator 199.

Controllable subsystems 162 can be controlled by various different itemson harvester 100. Propulsion subsystem 210 can be an engine that drivesground-engaging elements (such as wheels or tracks) through atransmission, hydraulic motors that are used to drive ground-engagingelements, electric motors, direct drive motors, or other propulsionsystems that are used to drive ground-engaging elements to propelharvester 100 in the forward and rearward directions. Propulsionsubsystem 110 can illustratively be controlled with a throttle toincrease or decrease the speed of travel of harvester 100.

Steering subsystem 212 can be used to control the heading of harvester100. One or more spout actuators 214 are illustratively configured todrive rotation or movement of spout 108 relative to the frame ofharvester 100. Actuators 214 can be hydraulic actuators, electricactuators, pneumatic actuators, or any of a wide variety of otheractuators. Similarly, one or more flap actuators 216 are used to drivethe position of flap 109 relative to spout 108. The flap actuators 216can also be hydraulic actuators, electric actuators, pneumaticactuators, or any of a wide variety of other actuators.

Fill control system 156 can use automatic fill control system 180 toperform automated fill control to automatically execute a fill strategyin filling one of the receiving vehicles 102, 122. Therefore, fillstrategy selector 182 can detect a user input selecting a fill strategy,or another input selecting a fill strategy, and access data store 152for a stored fill algorithm that can be executed to perform the selectedfill strategy. For instance, where the selected fill strategy is aback-to-front strategy, the algorithm will direct filling of thereceiving vehicle beginning at the back of the receiving vehicle andmoving to the front of the receiving vehicle. Other fill strategies canbe selected as well. Fill strategy implementation processor 184 receivesinputs from the automatic fill control sensors 164, spout positionsensor 168 and flap position sensor 170 and generates an output to fillcontrol signal generator 196 based upon the inputs from the sensors, toexecute the desired automatic fill control strategy. Fill control signalgenerator 196 can generate control signals to control any of thecontrollable subsystems 262 (or other items) to execute the fillstrategy being implemented by fill strategy implementation processor184.

As discussed above, it may be that even though control signals aregenerated by automatic fill control system 180 in implementing anautomatic fill strategy, those signals cannot command spout actuators214 and/or flap actuators 216 to position spout 108 and flap 109 todeliver harvested material to the desired landing position. Assume, forinstance, that fill strategy implementation processor 184 is beginning aback-to-front fill strategy. However, assume that receiving vehicle 104is positioned too far back (relative to harvester 100) so that, even atits extreme reward position, spout actuator 214 cannot position spout108 to deliver harvested material to the very rear of receiving vehicle104. In order to deliver harvested material to that landing point, thereceiving vehicle must adjust its position relative to harvester 100 inthe forward direction. That is, the receiving vehicle 104 must moveforward relative to harvester 100. When the spout actuators 214 and flapactuators 216 cannot be controlled to deliver material to the receivingvehicle without an adjustment to the position of the receiving vehiclerelative to the harvester, then fill strategy implementation processor184 generates a signal indicative of this and provides it to remoteapplication interaction system 158. Remote application interactionsystem 158, in turn, generates an output to mobile device 115 so thatmobile device 115 can surface the requested adjustment in relativeposition to the operator of the receiving vehicle.

Manual fill control system 188 can use manual position adjustmentdetector 190 to detect a manual input from operator 220 (e.g., throughinteractive display mechanism 126) to identify a landing point in thereceiving vehicle 102, 122 where the operator 199 desires the fillingoperation to be performed. Manual fill control system 188 can thengenerate outputs to fill control signal generator 196 which generatescontrol signals to control the controllable subsystems 162 so thatfilling commences at the manually identified landing point in thereceiving vehicle 102, 122.

Machine synchronization fill control system 194 can receive operatorinputs or other inputs, as well as sensor inputs from sensors 154 togenerate outputs to fill control signal generator 196 in order tosynchronize the positions of agricultural harvester 100 and receivingvehicle 102, 122 so that a desired filling operation is performed. Forinstance, machine synchronization control system 194 can receive sensorinputs identifying that the current position that is being filled inreceiving vehicle 102, 122, is at a desired fill level so that thereceiving vehicle should move forward or rearward relative toagricultural harvester 100. Machine synchronization fill control system194 then generates an output to fill control signal generator 196indicating this. Fill control signal generator 196 can generate anoutput either to controllable subsystems 162, or communication system150, or both, based on the inputs from machine synchronization fillcontrol system 194. For instance, where the output from system 194indicates that the receiving vehicle 102, 122 should move forwardrelative to agricultural harvester 100, then fill control signalgenerator 196 can control communication system 150 to communicate with acorresponding machine synchronization fill control system 194 on towingvehicle 104 indicating that towing vehicle 104 should “nudge” forwardrelative to the harvester 100 by momentarily increasing its ground speedand then returning to its current ground speed. However, it may be thatreceiving vehicle 102, 122 or towing vehicle 104 do not have a machinesynchronization fill control system. In that case, the “nudge” outputsgenerated by system 194 can be output to remote application interactionsystem 158 which can, itself, communicate with mobile device 115 toalert the operator of towing vehicle 104 that vehicle 104 needs tochange its position relative to harvester 100.

Remote application interaction system 158 can receive inputs throughinteractive display mechanism 126 or other operator interface mechanisms208 from operator 199 indicative of a command that will be sent to theoperator of the towing vehicle 104 to change the position of thereceiving vehicle relative to harvester 100. For instance, it may bethat the operator 199 wishes for the receiving vehicle 102, 122 to moveforward relative to harvester 100 or to move rearward relative toharvester 100 so that filling can continue at a different locationwithin the receiving vehicle 102, 122. It may also be that operator 199wishes the receiving vehicle to move outward relative to the harvester100 (e.g., further away from the harvester 100) or to move inwardrelative to harvester 100 (e.g., closer to harvester 100). Similarly, itmay be that operator 199 is about to stop harvester 100 and operator 199provides an input indicative of that. In these cases, manual positionadjustment detector 190 detects these inputs from operator 199. Wherethe manual input is an input that is to adjust the position of spout 108relative to harvester 100, then fill control signal generator 196generates an output to control spout actuators 214 and/or flap actuators216 to move the spout 108 and/or flap 109 to the desired positions.However, where the manual input is an input to communicate to mobiledevice 115 that operator 199 wishes to change the position of receivingvehicle 102, 122 relative to harvester 100, then the manual positionadjustment detector 190 detects that manual input and provides an outputto remote application interaction system 158. Remote applicationinteraction system 158 can receive an indication of the operator input,and generate an output that is communicated to a remote application onmobile device 115.

Examples of mobile device 115 are described below. Suffice it to say,for now, that the application on mobile device 115 can receive theoutput from remote application interaction system 158 and generate adisplay or a different output on an operator interface mechanism onmobile device 115 to communicate to the operator of towing vehicle 104(or a semi-tractor towing trailer 122) that operator 199 of harvester100 wishes to adjust the relative position between harvester 100 andreceiving vehicle 102, 122. In one example, the mobile device 115 alsogenerates an output showing the operator of towing vehicle 104 (or theoperator of a semi-tractor towing trailer 122) the direction and/ormagnitude of the adjustment to the relative position.

Similarly, remote application interaction system 158 can receive a“nudge” output from machine synchronization fill control system 194indicating that system 194 wishes to “nudge” the receiving vehicle 102,122 to change the position of receiving vehicle 102, 122 relative toharvester 100. Again, as when an operator input is received fromoperator 199, remote application interaction system 158 generates anoutput that is communicated to mobile device 115 so that the operator oftowing vehicle 104 (or a semi-tractor pulling trailer 122) can identifythe adjustment in relative position, the direction of the adjustmentand/or the magnitude of the adjustment desired by operator 199 ormachine synchronization fill control system 194.

Therefore, connection controller 200 establishes a connection with themobile device 115. This can be done in a number of different ways. Someof the different ways are described below with respect to FIG. 9.Communication controller 202 generates control signals to controlcommunication system 150 to communicate with mobile device 115 based onthe outputs from other items in remote application interaction system150. Fill control interaction system 204 interacts with fill controlsystem 156 to receive the manual inputs (from operator 199) through themanual position adjustment detector 190 in manual fill control system188.

Based on the outputs received at fill control interaction system 204from automatic fill control system 180, manual fill control system 188and/or machine synchronization fill control system 194, an output isprovided from system 204 to remote application output generator 205.Generator 205 generates an output to an application on mobile device 115indicating the relative position adjustment that is either manuallyinput by operator 199 or automatically generated by automatic fillcontrol system 180 or machine synchronization fill control system 194.As discussed elsewhere, the output to the application on mobile device115 can be an output indicating that a change in relative positionbetween the two vehicles is desired, the direction of the change, and/orthe magnitude of the change. In addition, the change may be a change inmotion. For example, the output to the mobile device 115 may beindicating that harvester 100 is about to stop. Communication controller202 then controls communication system 150 to send the output generatedby remote application output generator 205 to the remote application onmobile device 115. That remote application can then surface theinformation to the operator of the towing vehicle so that the operatorof the towing vehicle can make the desired adjustment in the position ofthe receiving vehicle 104, 122 relative to harvester 100.

FIG. 6 is a block diagram of one example of a receiving/towing vehicle220. It will be appreciated that receiving/towing vehicle 220 can betractor 104, the semi-tractor pulling trailer 122, or another vehiclethat can be operated by an operator local to that vehicle.Receiving/towing vehicle 220 illustratively includes one or moreoperator interface mechanisms 222, mobile device 115 (which may becarried by an operator of vehicle 220, mounted within an operatorcompartment of vehicle 220, etc.), and other receiving/towing vehiclefunctionality 224. In the example shown in FIG. 6, mobile device 115illustratively includes one or more processors 226, data store or othermemory 228, user interface mechanisms 230, one or more sensors 232,communication system 234, application running system 236, and othermobile device functionality 238. Application running system 236 can runa fill control application 240 and it can include other applicationrunning functionality 242.

Application 240 can be downloaded by mobile device 115, or it can beinstalled on mobile device 115 in other ways. In the example shown inFIG. 6, fill control application 240 illustratively includes commandprocessing system 244 (which, itself, includes change in motionidentifier 246 and other items 248), relative position generator 250,output generator 252, and other items 262. Output generator 252 caninclude image output system 254, interface control signal generator 256,other audio/visual/haptic output generator 258, and other items 260.Image output system 254 can include video output generator 264, staticimage output generator 266, pictorial illustration output generator 268,direction indication generator 270, stop indication generator 272, andother items 274. Before describing the overall operation ofreceiving/towing vehicle 220 in more detail, a brief description of someof the items shown in FIG. 6 will first be provided.

Operator interface mechanisms 222 can include a steering wheel, pedals,joysticks, other visual, audio, haptic, or other interface mechanisms.User interface mechanisms 230 can illustratively include a displayscreen, a keypad, buttons, icons, a touch sensitive display screen,audio output mechanisms, a haptic output mechanism, or other interfacemechanisms. Sensors 232 on mobile device 115 can include positionsensors (such as a GPS receiver), accelerometers, inertial measurementunits, or other sensors. Communication system 234 can include a cellularcommunication system, a near field communication system, a Bluetoothcommunication system, WIFI, local or wide area network communicationsystems, or other communication systems or combinations of systems.

Command processing system 244 receives an adjustment command fromagricultural harvester 100 indicating a desired adjustment in theposition of receiving/towing vehicle 220 relative to harvester 100.Change in motion identifier 246 illustratively identifies a desiredchange in motion of receiving/towing vehicle 220 indicated by thereceived adjustment command. For instance, the change in motion may beto temporarily increase in speed in order to move receiving/towingvehicle 220 forward relative to harvester 100. The change in motion maybe to temporarily reduce speed so that receiving/towing vehicle 220moves rearward relative to harvester 100. The change in motion may be tomove away from (e.g., outward relative) to harvester 100, or to movecloser (e.g., inward relative to), harvester 100. The change in motionmay also be to stop.

In one example, relative position generator 250 determines the relativeposition of receiving/towing vehicle 220 (based upon the position ofmobile device 115) and harvester 100. In such an example, relativeposition controller 250 can use RADAR or other sensors to detect theposition of harvester 100 relative to receiving/towing vehicle 220. Inanother example, relative position generator 250 can receive theposition output by a GPS sensor 232 as well as position informationindicating the position of harvester 100 (which may be received with theadjustment command). Based upon the two position signals, relativeposition generator 250 can generate an output indicative of the positionof vehicle 220 relative to harvester 100. Based upon the commandedadjustment to the motion of vehicle 220 (e.g., to stop or to adjust therelative position of the two vehicles 100 and 220) identified by commandprocessing system 244, and possibly based upon the relative positionoutput by relative position generator 250, output generator 252generates an output on user interface mechanisms 230 to indicate to theoperator of receiving/towing vehicle 220 the contents of the requestedadjustment. The output may indicate the direction of the requestedadjustment, the magnitude of the requested adjustment, or otherinformation. In addition, the output may be to display the streamingvideo information or static image information captured by camera 106 oranother camera on agricultural harvester 100. Thus, image output system154 can generate an image that may be displayed on a display screen inuser interface mechanisms 230.

Video output generator 264 may receive the streaming video from camera106, along with the adjustment command and generate an output that showsthe streaming video with an adjustment indicator overlaid on orsuperimposed on or otherwise integrated into the streaming video. Staticimage output generator 266 can generate a static image captured by animage detector or camera on harvester 100 and provide an output so thestatic image is displayed along with the adjustment indicator that maybe superimposed or otherwise incorporated into the static image.Pictorial illustration output generator 268 generates a pictorialillustration such as a pictorial illustration of harvester 100 andtowing/receiving vehicle 220. Direction indication generator 270generates a direction indicator that indicates the direction of thecommanded adjustment in relative position between harvester 100 andvehicle 220. The direction indicator may be overlaid on or otherwiseincorporated into the display of the streaming video output by videooutput generator 264. The direction indicator may be overlaid orotherwise incorporated into the static image output by static imageoutput generator 266, or the direction indicator may be overlaid orotherwise incorporated into the pictorial illustration output generator268. Again, the direction indicator can be an arrow, it can be asequence of display elements that blink or visually advance in thedirection of the desired adjustment, or it can be a wide variety ofother visual direction indicators.

Stop indication generator 272 illustratively generates a stop indicatorthat may be output by itself, or superimposed on or otherwiseincorporated into the streaming video output by video output generator264. The stop indicator may also be overlaid on or otherwiseincorporated into the static image output by static image outputgenerator 268, or the stop indicator may be overlaid on or otherwiseincorporated into the pictorial illustration output by pictorialillustration output generator 268. The stop indicator may be a visualstop sign, or another indicator that indicates that operator 199 wishesthat receiving/towing vehicle 220 come to a stop.

Other audio/visual/haptic output generator 258 can generate other audiooutputs, visual outputs and/or haptic outputs to indicate to theoperator of receiving/towing vehicle 220 the content of the commandedadjustment to the motion of receiving/towing vehicle 220, such as tostop or to adjust the relative position between vehicle 220 andharvester 100.

Interface control signal generator 256 illustratively receives inputsfrom image output system 254 and/or generator 258 and generates controlsignals to control user interface mechanisms 230 accordingly. Forinstance, signal generator 256 can generate control signals to controlthe display screen of mobile device 115 to show the output indicatorsgenerated by image output system 254 and/or output generator 258. Signalgenerator 256 can control speakers or other audio output mechanisms,haptic output mechanisms, or other user interface mechanisms 230 aswell.

FIGS. 7A-8E show examples of user interface displays that can begenerated on a display user interface mechanism on mobile device 115.Some items are similar in FIGS. 7A-8E and they are similarly numbered.Also, while the discussion of FIGS. 7A-8E is with respect to theadjustment command coming from operator 199, the adjustment commandcould just as easily have come from other items on harvester 100. FIG.7A shows a top-down pictorial illustration of a harvester 300, towingvehicle 302, and receiving vehicle 304 in the form of a towed trailer.Harvester 300 and receiving vehicle 304 are in a side-by-sideconfiguration. Harvester 300 is illustratively shown as moving in thedirection indicated by arrow 301. FIG. 7A also shows an adjustmentindicator 306. Adjustment indicator 306 is in the form of an arrow whichindicates the direction of the desired adjustment to the relativeposition between harvester 300 and receiving vehicle 304, based upon theadjustment command received by command processing system 244 in mobiledevice 115. In the example shown in FIG. 7A, the arrow points upwardlyon the user interface display indicating that the operator 199 ofharvester 100 has provided an adjustment command indicating thatoperator 199 wishes for the position of receiving vehicle 304 to moveforward relative to harvester 300.

FIG. 7B is similar to FIG. 7A except that an adjustment indicator 308 isan arrow pointing in the opposite direction of arrow 306. This indicatesthat operator 199 wishes to adjust the position of receiving vehicle 304rearwardly relative to the position of harvester 300.

FIG. 7C is similar to FIGS. 7A and 7B except that a direction indicator310 indicates that operator 199 is commanding a relative positionadjustment so that receiving vehicle 304 moves outward (or away)relative to the position of harvester 300.

FIG. 7D is similar to FIG. 7C except that an adjustment indicator 312shows that operator 199 has commanded an adjustment in the relativeposition of receiving vehicle 304 and harvester 100 so that receivingvehicle 304 comes closer to harvester 100.

FIG. 7E is similar to FIGS. 7A-7D, except that adjustment indicator 314indicates that operator 199 has provided an adjustment commandcommanding that the receiving vehicle 304 stop.

FIGS. 8A-8E are similar to FIGS. 7A-7E and similar items are similarlynumbered. FIGS. 8A-8E show harvester 300 filling receiving vehicle 304in a following configuration. FIG. 8A shows that an adjustment indicator316 indicates that operator 199 has provided an adjustment commandindicating that operator 199 wishes the receiving vehicle 304 to moveforward relative to the position of harvester 100. FIG. 8B is similar toFIG. 8A except that the adjustment indicator 318 shows that operator 199wishes for receiving vehicle 304 to move rearward relative to theposition of harvester 100. FIG. 8C is similar to FIG. 8B except thatadjustment indicator 320 indicates that operator 199 wishes thereceiving vehicle 304 to move to the right relative to the position ofharvester 100 and FIG. 8D shows that operator 199 wishes for thereceiving vehicle 304 to move to the left relative to the position ofharvester 300. FIG. 8E shows that the adjustment indicator 324 indicatesthat operator 199 wishes for the receiving vehicle 304 to stop.

FIG. 9 is a flow diagram illustrating one example of the operation ofharvester 100 in receiving an input indicative of a desired adjustmentto the motion of vehicle 220, such as to stop or such as an adjustmentto the relative position between harvester 100 and towing/receivingvehicle 220, and generating an output to the application 240 on mobiledevice 115. It is first assumed that harvester 100 is operating, or isabout to begin operation, as indicated by block 330 in the flow diagramof FIG. 9. In one example, it is also assumed that harvester 100 hasremote application interaction system 158 as indicated by block 332.Harvester 100 may be configured with fill control system 156, asindicated by block 334 and/or machine synchronization fill controlsystem 194, as indicated by block 336. Harvester 100 can be operating orconfigured in other ways as well, as indicated by block 338.

At some point, connection controller 200 in remote applicationinteraction system 158 establishes a communication link with mobiledevice 115 on receiving/towing vehicle 220. Establishing thecommunication link is indicated by block 340. The mobile device 115 maybe carried by the operator of receiving/towing vehicle 220, as indicatedby block 342, or mounted in receiving/towing vehicle 220, as indicatedby block 344.

Connection controller 200 can establish a communication link with theapplication 240 in mobile device 115 in a variety of different ways. Forinstance, connection controller 200 can detect the location of mobiledevice 115 and the location of harvester 100 and establish acommunication link with mobile device 115 once it is within a givenrange of harvester 100. Similarly, there may be multiplereceiving/towing vehicles 220 in the same field. Therefore, connectioncontroller 200 can identify the closest mobile device 115 and establisha connection with the closest mobile device (and hence the closestreceiving/towing vehicle 220). Comparing the locations to the variousreceiving/towing vehicles 220 and establishing a communication link (orpairing) with the closest is indicated by block 346 in the flow diagramof FIG. 9.

In another example, connection controller 200 can compare the location,heading, and speed of harvester 100 with the location heading, and speedof receiving/towing vehicle 220 (or mobile device 115) and establish acommunication link with the receiving/towing vehicle 220 that has theclosest location, heading, and speed to harvester 100. Establishing acommunication link with the mobile device 115 on the receiving/towingvehicle 220 that has the closets location, heading, and speed toharvester 100 is indicated by block 348 in the flow diagram of FIG. 9.

Connection controller 202 can determine which vehicle (and hence whichmobile device 115) is within a pre-determined range of harvester 100 fora threshold time period. This may indicate that the receiving vehicle isfollowing or in side-by-side relationship with harvester 100. Detectingwhich vehicle or mobile device is within a pre-determined range ofharvester 100 for a threshold time period is indicated by block 350.

Connection controller 200 can receive an operator input from operator199 indicating which particular mobile device to establish a connectionwith. For instance, all of the different mobile devices that are withinBluetooth or other near field communication range of harvester 100 maybe displayed to operator 199 on an interactive display screen. Operator199 can then select one of the mobile devices with which to establish acommunication link, and connection controller 200 can then establish aconnection with the selected mobile device. Establishing a communicationlink with a mobile device based upon an operator interaction isindicated by block 352 in the flow diagram of FIG. 9.

In one example, image processing can be used in establishingcommunication. Image processing can be performed on the image capturedby camera 106 to identify the particular receiving/towing vehicle 220that is receiving harvested material from harvester 100. The identity ofthe receiving/towing vehicle 220 may be correlated to a particularmobile device 115, and, once the identity of vehicle 220 is known,connection controller 202 can establish a connection with thatparticular mobile device 115. Establishing the communication link basedupon visual identification of the receiving/towing vehicle 220 isindicated by block 354 in the flow diagram of FIG. 9.

Again, it will be noted that the communication link can be a cellularlink, a near field communication link, a Bluetooth link, a WIFI link, aradio link, or another type of communication link, as indicated by block356. The communication link can be established in other ways as well, asindicated by block 358.

Fill control interaction system 204 then detects a command to changemotion of the harvester 100 relative to the receiving/towing vehicle220, as indicated by block 360 in the flow diagram of FIG. 9. Thedetected adjustment command can be generated automatically fromautomatic fill control system 180 or machine synchronization fillcontrol system 194, etc. Detecting an automatically generated adjustmentcommand is indicated by block 362 in the flow diagram of FIG. 9. Theadjustment command can be detected based upon a manual input fromoperator 199 through manual position adjustment detector 190. Detectingan adjustment input based upon a manual input command is indicated byblock 364 in the flow diagram of FIG. 9. The adjustment command can bedetected in other ways as well, as indicated by block 366.

The adjustment command can be processed to identify the type ofadjustment that has been commanded, as indicated by block 368 in theflow diagram of FIG. 9. For instance, the adjustment command may be tomove forward relative to harvester 100 as indicated by block 370, tomove backward relative to harvester 100 as indicated by block 372, tomove inward (or closer) relative to harvester 100 as indicated by block374, to move outward (or away) relative to harvester 100 as indicated byblock 376, to stop, as indicated by block 378, or to make another typeof adjustment relative to harvester 100 such as move to the right, moveto the left, etc.), as indicated by block 380.

Remote application output generator 205 generates an output indicativeof the type of commanded adjustment and communication controller 202controls communication system 150 to communicate that output to commandprocessing system 244 in fill control application 240 on mobile device115. Communicating the commanded change in motion to the application onthe receiving/towing vehicle 220 is indicated by block 382 in the flowdiagram of FIG. 9.

It will be noted that the adjustment command can be communicated to theapplication 240 along with an image (such as a static image, a recentlycaptured image, streaming video, etc.) captured by camera 106 or otherimage capture device on harvester 100. Sending the adjustment commandalong with an image is indicated by block 384 in the flow diagram ofFIG. 9. In addition, the adjustment command can be sent along with aposition or an identity of harvester 100. Sending a position or identityof harvester 100 can be sent along with the adjustment command, asindicated by block 386. The commanded change in motion can becommunicated to the application 240 in other ways and include otherinformation as well, as indicated by block 388.

In one example, communication controller 202 can also generate an outputon operator interface mechanisms 160 for operator 199, confirming thatthe commanded adjustment has been communicated to the mobile device 115on receiving/towing vehicle 220, as indicated by block 390 in the flowdiagram of FIG. 9. The communication controller 202 can also detect anacknowledgement from mobile device 115, as indicated by block 392.Communication controller 202 can generate other outputs as well, asindicated by block 394.

FIG. 10 is a flow diagram illustrating one example of the operation ofmobile device 115 in receiving an adjustment command and generating anoutput for the operator of receiving/towing vehicle 220, indicative ofthe adjustment command. It is first assumed that the receiving/towingvehicle 220 has a mobile device 115 with the fill control application240, as indicated by block 396 in the flow diagram of FIG. 10. It isalso assumed that the mobile device 115 is connected over acommunication link with harvester 100, as indicated by block 398.

At some point, command processing system 244 receives an adjustmentcommand or a commanded change in motion, as indicated by block 400.Command processing system 244 can generate an acknowledgement back toharvester 100, as indicated by block 402. In one example, the adjustmentcommand or commanded change in motion is received along with an image,as discussed above, as indicated by block 404 in the flow diagram ofFIG. 10. Also, the command processing system 244 may identify that theadjustment command is received along with the position and/or identityof harvester 100, as indicated by block 406. The commanded change inmotion or adjustment command can be received in other ways or with otherinformation as well, as indicated by block 408.

Command processing system 244 then processes the command to identify thecommanded change in motion. Processing the command is indicated by block410. Again, the commanded adjustment may be to move forward or backwardrelative to harvester 100, to move closer to or further away fromharvester 100, right or left, or to stop.

Output generator 252 then generates an output indicative of thecommanded change in motion, as indicated by block 412, and interfacecontrol signal generator 256 generates control signals to control anoperator interface mechanism 230 to provide the output to the operatorof receiving/towing vehicle 220. Controlling the user interfacemechanism 230 to provide the output is indicated by block 414 in theflow diagram of FIG. 10.

In one example, the interface control signal generator 256 generatescontrol signals to control the user interface mechanisms 230 on mobiledevice 115, as indicated by block 416 in the flow diagram of FIG. 10. Inanother example, interface control signal generator 256 communicateswith another display or operator interface mechanism in the operatorcompartment of receiving/towing vehicle 220, that is separate frommobile device 115, and controls that user interface mechanism to providethe output, as indicated by block 418 in the flow diagram of FIG. 10.The output can be a visual/audio/haptic output as indicated by block420. The output can be a streaming video output with a command indicatoroverlaid or otherwise incorporated into the streaming video, asindicated by block 422. The output can be a static image display withthe command indicator overlaid or otherwise incorporated into the staticimage, as indicated by block 424. The output can be a pictorial orgraphic illustration with the command indicator overlaid or otherwiseincorporated into the pictorial or graphic illustration, as indicated byblock 426.

The output can be displayed based upon the relative position ofharvester 100 and receiving/towing vehicle 220 as well. For instance,the distance between the receiving/towing vehicle 220 and harvester 100displayed on a display device may be greater or lesser based upon theactual position of the two vehicles relative to one another. Generatingthe output on a user interface mechanism based on a calculation of theabsolute or relative positions of the vehicles is indicated by block 428in the flow diagram of FIG. 10. An operator interface mechanism can becontrolled to provide the output in other ways as well, as indicated byblock 430.

It will be appreciated that the receiving/towing vehicle 220 may havegreater freedom to change its position relative to harvester 100 thanharvester 100 has to change its position relative to vehicle 220. Forexample, because harvester 100 is power starved, or due to theharvesting conditions a change in the speed of harvester 100 may not beadvisable. Thus, the present description describes a system thatdisplays or otherwise brings to the attention of the operator oftowing/receiving vehicle 220 an indicator indicating that a change inmotion (e.g., stop or change in relative position) is desired. Thechange in relative position can be commanded automatically by anautomatic fill control system or a machine synchronization controlsystem, or it can be based on a manual input from the operator 199 ofharvester 100. The commanded adjustment can be received by a mobileapplication running on a mobile device 115 in the receiving/towingvehicle 220 and can thus be surfaced for the operator of thereceiving/towing vehicle 220 in a wide variety of different ways.

The present discussion has mentioned processors and servers. In oneembodiment, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

It will be noted that the above discussion has described a variety ofdifferent systems, components and/or logic. It will be appreciated thatsuch systems, components and/or logic can be comprised of hardware items(such as processors and associated memory, or other processingcomponents, some of which are described below) that perform thefunctions associated with those systems, components and/or logic. Inaddition, the systems, components and/or logic can be comprised ofsoftware that is loaded into a memory and is subsequently executed by aprocessor or server, or other computing component, as described below.The systems, components and/or logic can also be comprised of differentcombinations of hardware, software, firmware, etc., some examples ofwhich are described below. These are only some examples of differentstructures that can be used to form the systems, components and/or logicdescribed above. Other structures can be used as well.

FIG. 11 is a block diagram of harvester 100, 300 shown in FIGS. 1-10, aswell as receiving/towing vehicle 104, 220 except that they communicatewith elements in a remote server architecture 500. In an example, remoteserver architecture 500 can provide computation, software, data access,and storage services that do not require end-user knowledge of thephysical location or configuration of the system that delivers theservices. In various embodiments, remote servers can deliver theservices over a wide area network, such as the internet, usingappropriate protocols. For instance, remote servers can deliverapplications over a wide area network and they can be accessed through aweb browser or any other computing component. Software or componentsshown in FIGS. 1-10 as well as the corresponding data, can be stored onservers at a remote location. The computing resources in a remote serverenvironment can be consolidated at a remote data center location or theycan be dispersed. Remote server infrastructures can deliver servicesthrough shared data centers, even though the servers appear as a singlepoint of access for the user. Thus, the components and functionsdescribed herein can be provided from a remote server at a remotelocation using a remote server architecture. Alternatively, thecomponents and functions can be provided from a conventional server, orthey can be installed on client devices directly, or in other ways.

In the example shown in FIG. 11, some items are similar to those shownin FIGS. 1-10 and they are similarly numbered. FIG. 11 specificallyshows that data stores 152, 228, other systems 224, and other parts ofthe harvester 100, 300 and/or mobile device 115 shown in FIGS. 1-10 canbe located at a remote server location 502. Therefore, harvester 100,300 and mobile device 115 can access those systems through remote serverlocation 502.

FIG. 11 also depicts another example of a remote server architecture.FIG. 11 shows that it is also contemplated that some elements of FIGS.1-10 are disposed at remote server location 502 while others are not. Byway of example, data stores 152, 228 or portions of them, or othersystems 224 can be disposed at a location separate from location 502,and accessed through the remote server at location 502. Regardless ofwhere the items are located, the items can be accessed directly byharvester 100, 300 and/or mobile device 115 through a network (such as awide area network or a local area network), the items can be hosted at aremote site by a service, or they can be provided as a service, oraccessed by a connection service that resides in a remote location.Also, data stored by harvester 100, 300 and/or mobile device 115 can bestored in substantially any location and intermittently accessed by, orforwarded to, interested parties. For instance, physical carriers can beused instead of, or in addition to, electromagnetic wave carriers. Insuch an example, where cell coverage is poor or nonexistent, anothermobile machine (such as a fuel truck) can have an automated informationcollection system. As the harvester 100, 300 and/or mobile device 115comes close to the fuel truck for fueling, the system automaticallycollects the information from the harvester 100, 300 and/or mobiledevice 115 using any type of ad-hoc wireless connection. The collectedinformation can then be forwarded to the main network as the fuel truckreaches a location where there is cellular coverage (or other wirelesscoverage). For instance, the fuel truck may enter a covered locationwhen traveling to fuel other machines or when at a main fuel storagelocation. All of these architectures are contemplated herein. Further,the information can be stored on the harvester 100, 300 and/or mobiledevice 115 until the harvester 100, 300 and/or mobile device 115 entersa covered location. The harvester 100, 300 and/or mobile device 115,itself, can then send the information to the main network.

It will also be noted that the elements of FIGS. 1-10 or portions ofthem, can be disposed on a wide variety of different devices. Some ofthose devices include servers, desktop computers, laptop computers,tablet computers, or other mobile devices, such as palm top computers,cell phones, smart phones, multimedia players, personal digitalassistants, etc.

FIG. 12 is a simplified block diagram of one illustrative example of ahandheld or mobile computing device that can be used as mobile device115 and as a user's or client's hand held device 16, in which thepresent system (or parts of it) can be deployed. For instance, a mobiledevice can be deployed in the operator compartment of harvester 100, 300and/or receiving/towing vehicle 104, 220 for use in generating,processing, or displaying the spout and flap data and the commandedadjustment indicator and other information. FIGS. 13-14 are examples ofhandheld or mobile devices.

FIG. 12 provides a general block diagram of the components of a clientdevice 16 that can run some components shown in FIGS. 5 and 6, thatinteracts with them, or both. In the device 16, a communications link 13is provided that allows the handheld device to communicate with othercomputing devices and in some examples provides a channel for receivinginformation automatically, such as by scanning. Examples ofcommunications link 13 include allowing communication though one or morecommunication protocols, such as wireless services used to providecellular access to a network, as well as protocols that provide localwireless connections to networks.

In other examples, applications (such as fill control application 240)can be received on a removable Secure Digital (SD) card that isconnected to an interface 15. Interface 15 and communication links 13communicate with a processor 17 (which can also embodyprocessors/servers from previous FIGS.) along a bus 19 that is alsoconnected to memory 21 and input/output (I/O) components 23, as well asclock 25 and location system 27.

I/O components 23 (which can comprise user interface mechanisms 230), inone example, are provided to facilitate input and output operations. I/Ocomponents 23 for various examples of the device 16 can include inputcomponents such as buttons, touch sensors, optical sensors, microphones,touch screens, proximity sensors, accelerometers, orientation sensorsand output components such as a display device, a speaker, and or aprinter port. Other VO components 23 can be used as well.

Clock 25 illustratively comprises a real time clock component thatoutputs a time and date. It can also, illustratively, provide timingfunctions for processor 17.

Location system 27 (which can be one of sensors 232) illustrativelyincludes a component that outputs a current geographical location ofdevice 16. This can include, for instance, a global positioning system(GPS) receiver, a LORAN system, a dead reckoning system, a cellulartriangulation system, or other positioning system. It can also include,for example, mapping software or navigation software that generatesdesired maps, navigation routes and other geographic functions.

Memory 21 (which can include data store 228 and other memory) storesoperating system 29, network settings 31, applications 33, applicationconfiguration settings 35, data store 37, communication drivers 39, andcommunication configuration settings 41. Memory 21 can include all typesof tangible volatile and non-volatile computer-readable memory devices.Memory 21 can also include computer storage media (described below).Memory 21 stores computer readable instructions (such as fill controlapplication 240) that, when executed by processor 17, cause theprocessor to perform computer-implemented steps or functions accordingto the instructions. Processor 17 can be activated by other componentsto facilitate their functionality as well.

FIG. 13 shows one example in which device 16 is a tablet computer 600.In FIG. 13, computer 600 is shown with user interface display screen 602(which can be one of user interface mechanisms 230). Screen 602 can be atouch screen or a pen-enabled interface that receives inputs from a penor stylus. computer 600 can also use an on-screen virtual keyboard. Ofcourse, computer 600 might also be attached to a keyboard or other userinput device through a suitable attachment mechanism, such as a wirelesslink or USB port, for instance. Computer 600 can also illustrativelyreceive voice inputs as well.

FIG. 14 shows that the device can be a smart phone 71. Smart phone 71has a touch sensitive display 73 (which can be one of user interfacemechanisms 230) that displays icons or tiles or other user inputmechanisms 75. Mechanisms 75 can be used by a user to run applications(such as fill control application 240), make calls, perform datatransfer operations, etc. In general, smart phone 71 is built on amobile operating system and offers more advanced computing capabilityand connectivity than a feature phone.

Note that other forms of the devices 16 are possible.

FIG. 15 is one example of a computing environment in which elements ofprevious FIGS., or parts of it, (for example) can be deployed. Withreference to FIG. 15, an example system for implementing someembodiments includes a computing device in the form of a computer 810programmed to operate as discussed above. Components of computer 810 mayinclude, but are not limited to, a processing unit 820 (which cancomprise processor or servers from pervious FIGS.), a system memory 830,and a system bus 821 that couples various system components includingthe system memory to the processing unit 820. The system bus 821 may beany of several types of bus structures including a memory bus or memorycontroller, a peripheral bus, and a local bus using any of a variety ofbus architectures. Memory and programs described with respect toprevious FIGS. can be deployed in corresponding portions of FIG. 15.

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 15 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 15 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, an optical disk drive 855,and nonvolatile optical disk 856. The hard disk drive 841 is typicallyconnected to the system bus 821 through a non-removable memory interfacesuch as interface 840, and optical disk drive 855 are typicallyconnected to the system bus 821 by a removable memory interface, such asinterface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (e.g., ASICs),Application-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 15, provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 15, for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a controller area network—CAN, local areanetwork—LAN, or wide area network WAN) to one or more remote computers,such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 15 illustrates,for example, that remote application programs 885 can reside on remotecomputer 880.

It should also be noted that the different examples described herein canbe combined in different ways. That is, parts of one or more examplescan be combined with parts of one or more other examples. All of this iscontemplated herein.

Example 1 is a material loading system, comprising:

a fill control application configured to run on a mobile device, themobile device including a mobile device communication system configuredto communicate with a material loading vehicle communication system on amaterial loading vehicle, the application including:

a command processing system that receives a motion adjustment commandfrom the harvester, the command processing system being configured toidentify a requested motion adjustment to motion of a receiving vehicle,that receives material from the material loading vehicle, based on themotion adjustment command; and

an output generator configured to generate a representation of anadjustment indicator indicative of the requested motion adjustment tothe motion of the receiving vehicle;

an interface control signal generator configured to generate interfacecontrol signals based on the representation of the adjustment indicator;and

a user interface mechanism coupled to the output generator andconfigured to generate an operator perceptible output based on theinterface control signals.

Example 2 is the material loading system of any or all previous exampleswherein the motion adjustment command comprises a stop commandrequesting the receiving vehicle to stop.

Example 3 is the material loading system of any or all previous exampleswherein the motion adjustment command comprises a relative positionadjustment command requesting a change in a position of the receivingvehicle relative to the harvester.

Example 4 is the material loading system of any or all previous exampleswherein the output generator is configured to generate therepresentation of the adjustment indicator as an adjustment indicatorwith an indicator type, the indicator type being at least one of visualadjustment indicator, an audio adjustment indicator, or a hapticadjustment indicator and wherein the user interface mechanism comprisesat least one of a visual interface mechanism, an audio interfacemechanism, or haptic interface mechanism based on the indicator type.

Example 5 is the material loading system of any or all previous exampleswherein the output generator is configured to generate therepresentation of the adjustment indicator as a visual adjustmentindicator that indicates a direction of the requested adjustment to theposition of the receiving vehicle relative to the harvester and whereinthe user interface mechanism comprises:

a display screen configured to display the visual adjustment indicator.

Example 6 is the material loading system of any or all previous exampleswherein the output generator comprises:

an image output generator configured to generate the visual adjustmentindicator as an image of the receiving vehicle and a direction indicatorindicating a direction of adjustment based on the requested adjustmentto the position of the receiving vehicle relative to the materialloading vehicle.

Example 7 is the material loading system of any or all previous exampleswherein the fill control application is configured to receive astreaming video input from the material loading vehicle indicative of astreaming video image of the receiving vehicle captured by a camera onthe material loading vehicle and wherein the image output generatorcomprises:

a video output generator configured to generate the visual adjustmentindicator as a streaming video image output based on the streaming videoinput; and

a direction indication generator configured to integrate the directionindicator into the streaming video image output.

Example 8 is the material loading system of any or all previous exampleswherein the fill control application is configured to receive a staticimage input from the material loading vehicle indicative of a staticimage of the receiving vehicle captured by a camera on the materialloading vehicle and wherein the image output generator comprises:

a static image output generator configured to generate the visualadjustment indicator as a static image output based on the static imageinput; and

a direction indication generator configured to integrate the directionindicator into the static image output.

Example 9 is the material loading system of any or all previous exampleswherein the image output generator comprises:

a pictorial illustration output generator configured to generate thevisual adjustment indicator as a pictorial illustration outputindicating a pictorial illustration of the receiving vehicle; and

a direction indication generator configured to integrate the directionindicator into the pictorial illustration output.

Example 10 is the material loading system of any or all previousexamples wherein the image output generator is configured to generatethe direction indicator as a direction indicator indicating that therequested adjustment is to move the receiving vehicle in a directioncomprising at least one of: forward relative to the material loadingvehicle, rearward relative to the material loading vehicle, closer tothe material loading vehicle, or further away from the material loadingvehicle.

Example 11 is the material loading system of any or all previousexamples wherein the output generator is configured to generate visualadjustment indicator as a visual fill level indicator indicative of afill level in the receiving vehicle.

Example 12 is the material loading system of any or all previousexamples wherein the display screen comprises:

a display screen that is separate from the mobile device and mounted inan operator compartment of the receiving vehicle.

Example 13 is an agricultural system, comprising:

a fill control system on an agricultural harvester that generates amotion adjustment command indicative of a requested motion adjustment tomotion of a receiving vehicle, that receives harvested material from theagricultural harvester;

a communication system;

a connection control system that controls the communication system toestablish communication with a mobile device in the receiving vehicle;

a remote application output generator configured to generate anadjustment output to an application on the mobile device in thereceiving vehicle based on the motion adjustment command; and

a communication controller that sends the adjustment output to themobile device using the communication system.

Example 14 is the agricultural system of any or all previous exampleswherein the fill control system generates the motion adjustment commandas one of a requested change in a position of the receiving vehiclerelative to the agricultural harvester and a requested stop of thereceiving vehicle.

Example 15 is the agricultural system of any or all previous examplesand further comprising an operator interface mechanism and wherein thefill control system comprises:

a manual position adjustment detector configured to detect a manualadjustment input from an operator of the harvester through the operatorinterface mechanism, and to generate the motion adjustment command basedon the manual adjustment input.

Example 16 is the agricultural system of any or all previous exampleswherein the fill control system comprises:

an automatic fill control system that automatically generates the motionadjustment command.

Example 17 is the agricultural system of any or all previous exampleswherein the fill control system comprises:

a machine synchronization fill control system that automaticallygenerates the motion adjustment command.

Example 18 is a computer implemented method of controlling anagricultural system, comprising:

running a fill control application on a mobile device in a receivingvehicle that receives harvested material from a harvester, the mobiledevice including a mobile device communication system configured tocommunicate with a harvester communication system on the harvester;

receiving a motion adjustment command, at the fill control applicationon the mobile device, from the harvester;

processing the motion adjustment command with the fill controlapplication to identify a requested motion adjustment to motion of thereceiving vehicle;

generating a representation of an adjustment indicator indicative of therequested motion adjustment to the motion of the receiving vehicle;

generating interface control signals based on the representation of theadjustment indicator; and

generating an operator perceptible output on an operator interfacemechanism based on the interface control signals.

Example 19 is the computer implemented method of any or all previousexamples wherein generating the operator perceptible output comprises:

generating the operator perceptible output on an operator interfacemechanism of the mobile device based on the interface control signals.

Example 20 is the computer implemented method of any or all previousexamples wherein generating the operator perceptible output comprises:

generating the operator perceptible output on an operator interfacemechanism that is mounted to the receiving vehicle and separate from,but communicably coupled to, the mobile device based on the interfacecontrol signals.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claims.

What is claimed is:
 1. A material loading system, comprising: a fillcontrol application configured to run on a mobile device, the mobiledevice including a mobile device communication system configured tocommunicate with a material loading vehicle communication system on amaterial loading vehicle, the application including: a commandprocessing system that receives a motion adjustment command from theharvester, the command processing system being configured to identify arequested motion adjustment to motion of a receiving vehicle, thatreceives material from the material loading vehicle, based on the motionadjustment command; and an output generator configured to generate arepresentation of an adjustment indicator indicative of the requestedmotion adjustment to the motion of the receiving vehicle; an interfacecontrol signal generator configured to generate interface controlsignals based on the representation of the adjustment indicator; and auser interface mechanism coupled to the output generator and configuredto generate an operator perceptible output based on the interfacecontrol signals.
 2. The material loading system of claim 1 wherein themotion adjustment command comprises a stop command requesting thereceiving vehicle to stop.
 3. The material loading system of claim 1wherein the motion adjustment command comprises a relative positionadjustment command requesting a change in a position of the receivingvehicle relative to the harvester.
 4. The material loading system ofclaim 3 wherein the output generator is configured to generate therepresentation of the adjustment indicator as an adjustment indicatorwith an indicator type, the indicator type being at least one of visualadjustment indicator, an audio adjustment indicator, or a hapticadjustment indicator and wherein the user interface mechanism comprisesat least one of a visual interface mechanism, an audio interfacemechanism, or haptic interface mechanism based on the indicator type. 5.The material loading system of claim 4 wherein the output generator isconfigured to generate the representation of the adjustment indicator asa visual adjustment indicator that indicates a direction of therequested adjustment to the position of the receiving vehicle relativeto the harvester and wherein the user interface mechanism comprises: adisplay screen configured to display the visual adjustment indicator. 6.The material loading system of claim 5 wherein the output generatorcomprises: an image output generator configured to generate the visualadjustment indicator as an image of the receiving vehicle and adirection indicator indicating a direction of adjustment based on therequested adjustment to the position of the receiving vehicle relativeto the material loading vehicle.
 7. The material loading system of claim6 wherein the fill control application is configured to receive astreaming video input from the material loading vehicle indicative of astreaming video image of the receiving vehicle captured by a camera onthe material loading vehicle and wherein the image output generatorcomprises: a video output generator configured to generate the visualadjustment indicator as a streaming video image output based on thestreaming video input; and a direction indication generator configuredto integrate the direction indicator into the streaming video imageoutput.
 8. The material loading system of claim 6 wherein the fillcontrol application is configured to receive a static image input fromthe material loading vehicle indicative of a static image of thereceiving vehicle captured by a camera on the material loading vehicleand wherein the image output generator comprises: a static image outputgenerator configured to generate the visual adjustment indicator as astatic image output based on the static image input; and a directionindication generator configured to integrate the direction indicatorinto the static image output.
 9. The material loading system of claim 6wherein the image output generator comprises: a pictorial illustrationoutput generator configured to generate the visual adjustment indicatoras a pictorial illustration output indicating a pictorial illustrationof the receiving vehicle; and a direction indication generatorconfigured to integrate the direction indicator into the pictorialillustration output.
 10. The material loading system of claim 6 whereinthe image output generator is configured to generate the directionindicator as a direction indicator indicating that the requestedadjustment is to move the receiving vehicle in a direction comprising atleast one of: forward relative to the material loading vehicle, rearwardrelative to the material loading vehicle, closer to the material loadingvehicle, or further away from the material loading vehicle.
 11. Thematerial loading system of claim 5 wherein the output generator isconfigured to generate visual adjustment indicator as a visual filllevel indicator indicative of a fill level in the receiving vehicle. 12.The material loading system of claim 5 wherein the display screencomprises: a display screen that is separate from the mobile device andmounted in an operator compartment of the receiving vehicle.
 13. Anagricultural system, comprising: a fill control system on anagricultural harvester that generates a motion adjustment commandindicative of a requested motion adjustment to motion of a receivingvehicle, that receives harvested material from the agriculturalharvester; a communication system; a connection control system thatcontrols the communication system to establish communication with amobile device in the receiving vehicle; a remote application outputgenerator configured to generate an adjustment output to an applicationon the mobile device in the receiving vehicle based on the motionadjustment command; and a communication controller that sends theadjustment output to the mobile device using the communication system.14. The agricultural system of claim 13 wherein the fill control systemgenerates the motion adjustment command as one of a requested change ina position of the receiving vehicle relative to the agriculturalharvester and a requested stop of the receiving vehicle.
 15. Theagricultural system of claim 13 and further comprising an operatorinterface mechanism and wherein the fill control system comprises: amanual position adjustment detector configured to detect a manualadjustment input from an operator of the harvester through the operatorinterface mechanism, and to generate the motion adjustment command basedon the manual adjustment input.
 16. The agricultural system of claim 13wherein the fill control system comprises: an automatic fill controlsystem that automatically generates the motion adjustment command. 17.The agricultural system of claim 13 wherein the fill control systemcomprises: a machine synchronization fill control system thatautomatically generates the motion adjustment command.
 18. A computerimplemented method of controlling an agricultural system, comprising:running a fill control application on a mobile device in a receivingvehicle that receives harvested material from a harvester, the mobiledevice including a mobile device communication system configured tocommunicate with a harvester communication system on the harvester;receiving a motion adjustment command, at the fill control applicationon the mobile device, from the harvester; processing the motionadjustment command with the fill control application to identify arequested motion adjustment to motion of the receiving vehicle;generating a representation of an adjustment indicator indicative of therequested motion adjustment to the motion of the receiving vehicle;generating interface control signals based on the representation of theadjustment indicator; and generating an operator perceptible output onan operator interface mechanism based on the interface control signals.19. The computer implemented method of claim 18 wherein generating theoperator perceptible output comprises: generating the operatorperceptible output on an operator interface mechanism of the mobiledevice based on the interface control signals.
 20. The computerimplemented method of claim 18 wherein generating the operatorperceptible output comprises: generating the operator perceptible outputon an operator interface mechanism that is mounted to the receivingvehicle and separate from, but communicably coupled to, the mobiledevice based on the interface control signals.